where \(h_t,m_t,n^1_t\)  satisfy (REF ), and \(q_t,p_t,k_t\)  satisfy (4.12) and \(H\)  is defined in the [1]}. Noting the backward state equation, we can ensure that the relation can be built equivalently when the generators \(g\)  between our setting and [1]} exist a minus sign.
